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02Research

Publications

Papers from my PhD and research at the University of Edinburgh, on trajectory optimisation, robustness to disturbances, and loco-manipulation for legged robots. Also on Google Scholar.

PhD thesis · 2022

Trajectory Optimisation for Legged Robots

The University of Edinburgh. Supervised by Prof. Sethu Vijayakumar; examined by Dr. Steve Tonneau and Prof. Olivier Stasse. Passed with no corrections.

Read the thesis

2023

JournalAuRo 2023

RoLoMa: Robust Loco-Manipulation for Quadruped Robots with Arms

H. Ferrolho, V. Ivan, W. Merkt, I. Havoutis, S. Vijayakumar

2022

JournalAuRo 2022

A feasibility-driven approach to control-limited DDP

C. Mastalli, W. Merkt, J. Marti-Saumell, H. Ferrolho, J. Sola, N. Mansard, S. Vijayakumar

2021

JournalRAS 2021

Residual Force Polytope: Admissible Task-Space Forces of Dynamic Trajectories

H. Ferrolho, W. Merkt, C. Tiseo, S. Vijayakumar

ConferenceICRA 2021

Inverse Dynamics vs. Forward Dynamics in Direct Transcription Formulations for Trajectory Optimization

H. Ferrolho, V. Ivan, W. Merkt, I. Havoutis, S. Vijayakumar

PDF arXiv Video

2020

ConferenceIROS 2020

Optimizing Dynamic Trajectories for Robustness to Disturbances Using Polytopic Projections

H. Ferrolho, W. Merkt, V. Ivan, W. Wolfslag, S. Vijayakumar

2018

ConferenceHumanoids 2018

Whole-Body End-Pose Planning for Legged Robots on Inclined Support Surfaces in Complex Environments

H. Ferrolho, W. Merkt, Y. Yang, V. Ivan, S. Vijayakumar

2017

JournalRA-L 2017

Efficient Humanoid Motion Planning on Uneven Terrain Using Paired Forward-Inverse Dynamic Reachability Maps

Y. Yang, W. Merkt, H. Ferrolho, V. Ivan, S. Vijayakumar